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<a href="fsm__soe_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/******************************************************************************</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *  $Id: fsm_soe.h,v 9cdd7669dc0b 2013/01/10 16:36:41 fp $</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  This file is part of the IgH EtherCAT Master.</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  The IgH EtherCAT Master is free software; you can redistribute it and/or</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modify it under the terms of the GNU General Public License version 2, as</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  published by the Free Software Foundation.</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *  The IgH EtherCAT Master is distributed in the hope that it will be useful,</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *  but WITHOUT ANY WARRANTY; without even the implied warranty of</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *  Public License for more details.</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *  You should have received a copy of the GNU General Public License along</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *  with the IgH EtherCAT Master; if not, write to the Free Software</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *  ---</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  The license mentioned above concerns the source code only. Using the</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  EtherCAT technology and brand is only permitted in compliance with the</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  industrial property and similar rights of Beckhoff Automation GmbH.</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *****************************************************************************/</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#ifndef __EC_FSM_SOE_H__</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#define __EC_FSM_SOE_H__</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="globals_8h.html">globals.h</a>&quot;</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="datagram_8h.html">datagram.h</a>&quot;</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="slave_8h.html">slave.h</a>&quot;</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="soe__request_8h.html">soe_request.h</a>&quot;</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="fsm__soe_8h.html#a6f2210c6eb570d207312a8ea94a15527">   47</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structec__fsm__soe.html">ec_fsm_soe</a> <a class="code" href="structec__fsm__soe.html">ec_fsm_soe_t</a>; </div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="structec__fsm__soe.html">   51</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structec__fsm__soe.html">ec_fsm_soe</a> {</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="structec__fsm__soe.html#ac70c33e8ea8a98b79d84c3ace3416180">   52</a></span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *<a class="code" href="structec__fsm__soe.html#ac70c33e8ea8a98b79d84c3ace3416180">slave</a>; </div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="structec__fsm__soe.html#a717e23d822ee8bca76b9b477ff078bb7">   53</a></span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structec__fsm__soe.html#a717e23d822ee8bca76b9b477ff078bb7">retries</a>; </div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="structec__fsm__soe.html#a165beb536c80ee10e46908c7f2e3b7d8">   55</a></span>&#160;    void (*<a class="code" href="structec__fsm__soe.html#a165beb536c80ee10e46908c7f2e3b7d8">state</a>)(<a class="code" href="structec__fsm__soe.html">ec_fsm_soe_t</a> *, <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *); </div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="structec__fsm__soe.html#ad94b8e0cd3aeb06cc554b1405bf02436">   56</a></span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *<a class="code" href="structec__fsm__soe.html#ad94b8e0cd3aeb06cc554b1405bf02436">datagram</a>; </div><div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="structec__fsm__soe.html#ad9dc7d3d67af743a7181a878f23faa84">   57</a></span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code" href="structec__fsm__soe.html#ad9dc7d3d67af743a7181a878f23faa84">jiffies_start</a>; </div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="structec__fsm__soe.html#add6279a51617da94d91420bb05e57a7c">   58</a></span>&#160;    <a class="code" href="structec__soe__request__t.html">ec_soe_request_t</a> *<a class="code" href="structec__fsm__soe.html#add6279a51617da94d91420bb05e57a7c">request</a>; </div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structec__fsm__soe.html#a2e2bdcd1fdb5d507480e0c29a97ce7d0">   59</a></span>&#160;    off_t <a class="code" href="structec__fsm__soe.html#a2e2bdcd1fdb5d507480e0c29a97ce7d0">offset</a>; </div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="structec__fsm__soe.html#ae3f6c643ecacae3364064dc9f466c95a">   60</a></span>&#160;    <span class="keywordtype">size_t</span> <a class="code" href="structec__fsm__soe.html#ae3f6c643ecacae3364064dc9f466c95a">fragment_size</a>; </div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;};</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__soe_8h.html#a451a615dc0269059f3ed94f37f7c08c5">ec_fsm_soe_init</a>(<a class="code" href="structec__fsm__soe.html">ec_fsm_soe_t</a> *);</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__soe_8h.html#a8613b87fb1105d8a002b13bba3d86dc8">ec_fsm_soe_clear</a>(<a class="code" href="structec__fsm__soe.html">ec_fsm_soe_t</a> *);</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__soe_8h.html#a8eff1b86bc42789a8747d8817914d8be">ec_fsm_soe_transfer</a>(<a class="code" href="structec__fsm__soe.html">ec_fsm_soe_t</a> *, <a class="code" href="structec__slave.html">ec_slave_t</a> *, <a class="code" href="structec__soe__request__t.html">ec_soe_request_t</a> *);</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="keywordtype">int</span> <a class="code" href="fsm__soe_8h.html#aa25b538167720cd04716ce6eb81d0bcc">ec_fsm_soe_exec</a>(<a class="code" href="structec__fsm__soe.html">ec_fsm_soe_t</a> *, <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *);</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="keywordtype">int</span> <a class="code" href="fsm__soe_8h.html#a3115df704100f859631f6c4476b3c997">ec_fsm_soe_success</a>(<span class="keyword">const</span> <a class="code" href="structec__fsm__soe.html">ec_fsm_soe_t</a> *);</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="structec__fsm__soe_html"><div class="ttname"><a href="structec__fsm__soe.html">ec_fsm_soe</a></div><div class="ttdoc">Finite state machines for the Sercos over EtherCAT protocol. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__soe_8h_source.html#l00051">fsm_soe.h:51</a></div></div>
<div class="ttc" id="structec__fsm__soe_html_ae3f6c643ecacae3364064dc9f466c95a"><div class="ttname"><a href="structec__fsm__soe.html#ae3f6c643ecacae3364064dc9f466c95a">ec_fsm_soe::fragment_size</a></div><div class="ttdeci">size_t fragment_size</div><div class="ttdoc">Size of the current fragment. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__soe_8h_source.html#l00060">fsm_soe.h:60</a></div></div>
<div class="ttc" id="structec__fsm__soe_html_add6279a51617da94d91420bb05e57a7c"><div class="ttname"><a href="structec__fsm__soe.html#add6279a51617da94d91420bb05e57a7c">ec_fsm_soe::request</a></div><div class="ttdeci">ec_soe_request_t * request</div><div class="ttdoc">SoE request. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__soe_8h_source.html#l00058">fsm_soe.h:58</a></div></div>
<div class="ttc" id="slave_8h_html"><div class="ttname"><a href="slave_8h.html">slave.h</a></div><div class="ttdoc">EtherCAT slave structure. </div></div>
<div class="ttc" id="structec__datagram__t_html"><div class="ttname"><a href="structec__datagram__t.html">ec_datagram_t</a></div><div class="ttdoc">EtherCAT datagram. </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8h_source.html#l00087">datagram.h:87</a></div></div>
<div class="ttc" id="fsm__soe_8h_html_a451a615dc0269059f3ed94f37f7c08c5"><div class="ttname"><a href="fsm__soe_8h.html#a451a615dc0269059f3ed94f37f7c08c5">ec_fsm_soe_init</a></div><div class="ttdeci">void ec_fsm_soe_init(ec_fsm_soe_t *)</div><div class="ttdoc">Constructor. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__soe_8c_source.html#l00107">fsm_soe.c:107</a></div></div>
<div class="ttc" id="globals_8h_html"><div class="ttname"><a href="globals_8h.html">globals.h</a></div><div class="ttdoc">Global definitions and macros. </div></div>
<div class="ttc" id="fsm__soe_8h_html_a8613b87fb1105d8a002b13bba3d86dc8"><div class="ttname"><a href="fsm__soe_8h.html#a8613b87fb1105d8a002b13bba3d86dc8">ec_fsm_soe_clear</a></div><div class="ttdeci">void ec_fsm_soe_clear(ec_fsm_soe_t *)</div><div class="ttdoc">Destructor. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__soe_8c_source.html#l00120">fsm_soe.c:120</a></div></div>
<div class="ttc" id="structec__slave_html"><div class="ttname"><a href="structec__slave.html">ec_slave</a></div><div class="ttdoc">EtherCAT slave. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00176">slave.h:176</a></div></div>
<div class="ttc" id="fsm__soe_8h_html_a8eff1b86bc42789a8747d8817914d8be"><div class="ttname"><a href="fsm__soe_8h.html#a8eff1b86bc42789a8747d8817914d8be">ec_fsm_soe_transfer</a></div><div class="ttdeci">void ec_fsm_soe_transfer(ec_fsm_soe_t *, ec_slave_t *, ec_soe_request_t *)</div><div class="ttdoc">Starts to transfer an IDN to/from a slave. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__soe_8c_source.html#l00130">fsm_soe.c:130</a></div></div>
<div class="ttc" id="structec__fsm__soe_html_a165beb536c80ee10e46908c7f2e3b7d8"><div class="ttname"><a href="structec__fsm__soe.html#a165beb536c80ee10e46908c7f2e3b7d8">ec_fsm_soe::state</a></div><div class="ttdeci">void(* state)(ec_fsm_soe_t *, ec_datagram_t *)</div><div class="ttdoc">CoE state function. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__soe_8h_source.html#l00055">fsm_soe.h:55</a></div></div>
<div class="ttc" id="structec__fsm__soe_html_a2e2bdcd1fdb5d507480e0c29a97ce7d0"><div class="ttname"><a href="structec__fsm__soe.html#a2e2bdcd1fdb5d507480e0c29a97ce7d0">ec_fsm_soe::offset</a></div><div class="ttdeci">off_t offset</div><div class="ttdoc">IDN data offset during fragmented write. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__soe_8h_source.html#l00059">fsm_soe.h:59</a></div></div>
<div class="ttc" id="datagram_8h_html"><div class="ttname"><a href="datagram_8h.html">datagram.h</a></div><div class="ttdoc">EtherCAT datagram structure. </div></div>
<div class="ttc" id="fsm__soe_8h_html_a3115df704100f859631f6c4476b3c997"><div class="ttname"><a href="fsm__soe_8h.html#a3115df704100f859631f6c4476b3c997">ec_fsm_soe_success</a></div><div class="ttdeci">int ec_fsm_soe_success(const ec_fsm_soe_t *)</div><div class="ttdoc">Returns, if the state machine terminated with success. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__soe_8c_source.html#l00187">fsm_soe.c:187</a></div></div>
<div class="ttc" id="structec__fsm__soe_html_a717e23d822ee8bca76b9b477ff078bb7"><div class="ttname"><a href="structec__fsm__soe.html#a717e23d822ee8bca76b9b477ff078bb7">ec_fsm_soe::retries</a></div><div class="ttdeci">unsigned int retries</div><div class="ttdoc">retries upon datagram timeout </div><div class="ttdef"><b>Definition:</b> <a href="fsm__soe_8h_source.html#l00053">fsm_soe.h:53</a></div></div>
<div class="ttc" id="structec__fsm__soe_html_ad94b8e0cd3aeb06cc554b1405bf02436"><div class="ttname"><a href="structec__fsm__soe.html#ad94b8e0cd3aeb06cc554b1405bf02436">ec_fsm_soe::datagram</a></div><div class="ttdeci">ec_datagram_t * datagram</div><div class="ttdoc">Datagram used in the previous step. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__soe_8h_source.html#l00056">fsm_soe.h:56</a></div></div>
<div class="ttc" id="structec__fsm__soe_html_ad9dc7d3d67af743a7181a878f23faa84"><div class="ttname"><a href="structec__fsm__soe.html#ad9dc7d3d67af743a7181a878f23faa84">ec_fsm_soe::jiffies_start</a></div><div class="ttdeci">unsigned long jiffies_start</div><div class="ttdoc">Timestamp. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__soe_8h_source.html#l00057">fsm_soe.h:57</a></div></div>
<div class="ttc" id="soe__request_8h_html"><div class="ttname"><a href="soe__request_8h.html">soe_request.h</a></div><div class="ttdoc">EtherCAT SoE request structure. </div></div>
<div class="ttc" id="structec__fsm__soe_html_ac70c33e8ea8a98b79d84c3ace3416180"><div class="ttname"><a href="structec__fsm__soe.html#ac70c33e8ea8a98b79d84c3ace3416180">ec_fsm_soe::slave</a></div><div class="ttdeci">ec_slave_t * slave</div><div class="ttdoc">slave the FSM runs on </div><div class="ttdef"><b>Definition:</b> <a href="fsm__soe_8h_source.html#l00052">fsm_soe.h:52</a></div></div>
<div class="ttc" id="fsm__soe_8h_html_aa25b538167720cd04716ce6eb81d0bcc"><div class="ttname"><a href="fsm__soe_8h.html#aa25b538167720cd04716ce6eb81d0bcc">ec_fsm_soe_exec</a></div><div class="ttdeci">int ec_fsm_soe_exec(ec_fsm_soe_t *, ec_datagram_t *)</div><div class="ttdoc">Executes the current state of the state machine. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__soe_8c_source.html#l00152">fsm_soe.c:152</a></div></div>
<div class="ttc" id="structec__soe__request__t_html"><div class="ttname"><a href="structec__soe__request__t.html">ec_soe_request_t</a></div><div class="ttdoc">Sercos-over-EtherCAT request. </div><div class="ttdef"><b>Definition:</b> <a href="soe__request_8h_source.html#l00048">soe_request.h:48</a></div></div>
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